feat(lanelet2_extension): replace autoware_auto_mapping_msg with autoware_map_msg (#216)

* feat(lanelet2_extension): replace autoware-auto-mapping-msg to autoware-map-msg

Signed-off-by: liu cui <cynthia.liu@autocore.ai>

* style(pre-commit): autofix

---------

Signed-off-by: liu cui <cynthia.liu@autocore.ai>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

Author: 2 people

autoware_lanelet2_extension/README.md

@@ -54,7 +54,7 @@ Autoware intersection module requires the information on which lanes can be igno
 This contains functions to convert lanelet map objects into ROS messages.
 Currently it contains following conversions:
 
-- lanelet::LaneletMapPtr to/from autoware_auto_mapping_msgs::msg::HADMapBin
+- lanelet::LaneletMapPtr to/from autoware_map_msgs::msg::LaneletMapBin
 - lanelet::Point3d to geometry_msgs::Point
 - lanelet::Point2d to geometry_msgs::Point
 - lanelet::BasicPoint3d to geometry_msgs::Point

autoware_lanelet2_extension/include/autoware_lanelet2_extension/utility/message_conversion.hpp

@@ -19,7 +19,7 @@
 
 // NOLINTBEGIN(readability-identifier-naming)
 
-#include <autoware_auto_mapping_msgs/msg/had_map_bin.hpp>
+#include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
 #include <geometry_msgs/msg/point.hpp>
 #include <geometry_msgs/msg/point32.hpp>
 #include <geometry_msgs/msg/polygon.hpp>
@@ -36,17 +36,17 @@ namespace lanelet::utils::conversion
  * @param map [lanelet map data]
  * @param msg [converted ROS message. Only "data" field is filled]
  */
-void toBinMsg(const lanelet::LaneletMapPtr & map, autoware_auto_mapping_msgs::msg::HADMapBin * msg);
+void toBinMsg(const lanelet::LaneletMapPtr & map, autoware_map_msgs::msg::LaneletMapBin * msg);
 
 /**
  * [fromBinMsg converts ROS message into lanelet2 data. Similar implementation
  * to lanelet::io_handlers::BinHandler::parse()]
  * @param msg [ROS message for lanelet map]
  * @param map [Converted lanelet2 data]
  */
-void fromBinMsg(const autoware_auto_mapping_msgs::msg::HADMapBin & msg, lanelet::LaneletMapPtr map);
+void fromBinMsg(const autoware_map_msgs::msg::LaneletMapBin & msg, lanelet::LaneletMapPtr map);
 void fromBinMsg(
-  const autoware_auto_mapping_msgs::msg::HADMapBin & msg, lanelet::LaneletMapPtr map,
+  const autoware_map_msgs::msg::LaneletMapBin & msg, lanelet::LaneletMapPtr map,
   lanelet::traffic_rules::TrafficRulesPtr * traffic_rules,
   lanelet::routing::RoutingGraphPtr * routing_graph);
 

autoware_lanelet2_extension/lib/message_conversion.cpp

@@ -39,7 +39,7 @@
 
 namespace lanelet::utils::conversion
 {
-void toBinMsg(const lanelet::LaneletMapPtr & map, autoware_auto_mapping_msgs::msg::HADMapBin * msg)
+void toBinMsg(const lanelet::LaneletMapPtr & map, autoware_map_msgs::msg::LaneletMapBin * msg)
 {
   if (msg == nullptr) {
     std::cerr << __FUNCTION__ << "msg is null pointer!";
@@ -58,7 +58,7 @@ void toBinMsg(const lanelet::LaneletMapPtr & map, autoware_auto_mapping_msgs::ms
   msg->data.assign(data_str.begin(), data_str.end());
 }
 
-void fromBinMsg(const autoware_auto_mapping_msgs::msg::HADMapBin & msg, lanelet::LaneletMapPtr map)
+void fromBinMsg(const autoware_map_msgs::msg::LaneletMapBin & msg, lanelet::LaneletMapPtr map)
 {
   if (!map) {
     std::cerr << __FUNCTION__ << ": map is null pointer!";
@@ -79,7 +79,7 @@ void fromBinMsg(const autoware_auto_mapping_msgs::msg::HADMapBin & msg, lanelet:
 }
 
 void fromBinMsg(
-  const autoware_auto_mapping_msgs::msg::HADMapBin & msg, lanelet::LaneletMapPtr map,
+  const autoware_map_msgs::msg::LaneletMapBin & msg, lanelet::LaneletMapPtr map,
   lanelet::traffic_rules::TrafficRulesPtr * traffic_rules,
   lanelet::routing::RoutingGraphPtr * routing_graph)
 {

autoware_lanelet2_extension/package.xml

@@ -15,8 +15,8 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
-  <depend>autoware_auto_mapping_msgs</depend>
   <depend>autoware_auto_planning_msgs</depend>
+  <depend>autoware_map_msgs</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_utils</depend>
   <depend>geographiclib</depend>

autoware_lanelet2_extension/test/src/test_message_conversion.cpp

@@ -67,7 +67,7 @@ class TestSuite : public ::testing::Test  // NOLINT for gtest
 
 TEST_F(TestSuite, BinMsgConversion)  // NOLINT for gtest
 {
-  autoware_auto_mapping_msgs::msg::HADMapBin bin_msg;
+  autoware_map_msgs::msg::LaneletMapBin bin_msg;
   lanelet::LaneletMapPtr regenerated_map(new lanelet::LaneletMap);
 
   lanelet::utils::conversion::toBinMsg(single_lanelet_map_ptr, &bin_msg);

autoware_lanelet2_extension/test/src/test_route_checker.cpp

@@ -17,7 +17,7 @@
 #include "autoware_lanelet2_extension/utility/message_conversion.hpp"
 #include "autoware_lanelet2_extension/utility/route_checker.hpp"
 
-#include <autoware_auto_mapping_msgs/msg/had_map_bin.hpp>
+#include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
 #include <autoware_planning_msgs/msg/lanelet_route.hpp>
 
 #include <gtest/gtest.h>
@@ -74,7 +74,7 @@ class TestSuite : public ::testing::Test  // NOLINT for gtest
 
 TEST_F(TestSuite, isRouteValid)  // NOLINT for gtest
 {
-  autoware_auto_mapping_msgs::msg::HADMapBin bin_msg;
+  autoware_map_msgs::msg::LaneletMapBin bin_msg;
 
   const auto route_ptr1 =
     std::make_shared<autoware_planning_msgs::msg::LaneletRoute>(sample_route1);